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[PX4IO/PWM driver] Added trim values to the PWM output drivers

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Bartosz Wawrzacz
2016-07-06 13:50:08 +02:00
committed by Lorenz Meier
parent 4494182bfc
commit 619efa7b45
12 changed files with 222 additions and 41 deletions
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src/modules/systemlib/pwm_limit/pwm_limit.c
+10 -2
View File
@@ -56,7 +56,7 @@ void pwm_limit_init(pwm_limit_t *limit)
}
void pwm_limit_calc(const bool armed, const bool pre_armed, const unsigned num_channels, const uint16_t reverse_mask,
const uint16_t *disarmed_pwm, const uint16_t *min_pwm, const uint16_t *max_pwm,
const uint16_t *disarmed_pwm, const uint16_t *min_pwm, const uint16_t *max_pwm, const uint16_t *trim_pwm,
const float *output, uint16_t *effective_pwm, pwm_limit_t *limit)
{
@@ -206,7 +206,15 @@ void pwm_limit_calc(const bool armed, const bool pre_armed, const unsigned num_c
control_value = -1.0f * control_value;
}
effective_pwm[i] = control_value * (max_pwm[i] - min_pwm[i]) / 2 + (max_pwm[i] + min_pwm[i]) / 2;
if (trim_pwm[i] == 0) {
effective_pwm[i] = control_value * (max_pwm[i] - min_pwm[i]) / 2 + (max_pwm[i] + min_pwm[i]) / 2;
} else if (control_value < 0) {
effective_pwm[i] = control_value * (trim_pwm[i] - min_pwm[i]) + trim_pwm[i];
} else {
effective_pwm[i] = control_value * (max_pwm[i] - trim_pwm[i]) + trim_pwm[i];
}
/* last line of defense against invalid inputs */
if (effective_pwm[i] < min_pwm[i]) {
src/modules/systemlib/pwm_limit/pwm_limit.h
+2 -1
View File
@@ -73,7 +73,8 @@ __EXPORT void pwm_limit_init(pwm_limit_t *limit);
__EXPORT void pwm_limit_calc(const bool armed, const bool pre_armed, const unsigned num_channels,
const uint16_t reverse_mask, const uint16_t *disarmed_pwm,
const uint16_t *min_pwm, const uint16_t *max_pwm, const float *output, uint16_t *effective_pwm, pwm_limit_t *limit);
const uint16_t *min_pwm, const uint16_t *max_pwm, const uint16_t *trim_pwm,
const float *output, uint16_t *effective_pwm, pwm_limit_t *limit);
__END_DECLS